82 lines
1.7 KiB
Go
82 lines
1.7 KiB
Go
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package camera
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import (
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"github.com/cyrilix/robocar-base/mqttdevice"
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"gocv.io/x/gocv"
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"io"
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"log"
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"sync"
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"time"
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)
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type VideoSource interface {
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Read(m *gocv.Mat) bool
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io.Closer
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}
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type OpencvCameraPart struct {
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vc VideoSource
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pub mqttdevice.Publisher
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topic string
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publishFrequency int
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muImgBuffered sync.Mutex
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imgBuffered *gocv.Mat
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}
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func New(topic string, publisher mqttdevice.Publisher, publishFrequency int, videoProperties map[gocv.VideoCaptureProperties]float64) *OpencvCameraPart {
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log.Printf("Run camera part")
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vc, err := gocv.OpenVideoCapture(0)
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if err != nil {
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log.Fatalf("unable to open video device: %v", err)
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}
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for k, v := range videoProperties {
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vc.Set(k, v)
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}
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img := gocv.NewMat()
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o := OpencvCameraPart{
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vc: vc,
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pub: publisher,
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topic: topic,
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publishFrequency: publishFrequency,
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imgBuffered: &img,
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}
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return &o
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}
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func (o *OpencvCameraPart) Start() error {
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log.Printf("start camera")
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ticker := time.NewTicker(1 * time.Second / time.Duration(o.publishFrequency))
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defer ticker.Stop()
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for {
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go o.publishFrame()
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<-ticker.C
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}
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}
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func (o *OpencvCameraPart) Stop() {
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log.Print("close video device")
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if err := o.vc.Close(); err != nil {
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log.Printf("unexpected error while VideoCapture is closed: %v", err)
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}
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if err := o.imgBuffered.Close(); err != nil {
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log.Printf("unexpected error while VideoCapture is closed: %v", err)
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}
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}
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func (o *OpencvCameraPart) publishFrame() {
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o.muImgBuffered.Lock()
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defer o.muImgBuffered.Unlock()
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o.vc.Read(o.imgBuffered)
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img, err := gocv.IMEncode(gocv.JPEGFileExt, *o.imgBuffered)
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if err != nil {
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log.Printf("unable to convert image to jpeg: %v", err)
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return
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}
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o.pub.Publish(o.topic, img)
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}
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